Novel human-robot interface integrating real-time visual tracking and microphone-array signal processing

Hiroshi Mizoguchi; Takaomi Shigehara; Yoshiyasu Goto; Ken-ichi Hidai; Taketoshi Mishima

doi:10.1117/12.326995

9 October 1998 Novel human-robot interface integrating real-time visual tracking and microphone-array signal processing

Hiroshi Mizoguchi, Takaomi Shigehara, Yoshiyasu Goto, Ken-ichi Hidai, Taketoshi Mishima

Proceedings Volume 3523, Sensor Fusion and Decentralized Control in Robotic Systems; (1998) https://doi.org/10.1117/12.326995
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

This paper proposes a novel human robot interface that is an integration of real time visual tracking and microphone array signal processing. The proposed interface is intended to be used as a speech signal input method for human collaborative robot. Utilizing it, the robot can clearly listen human master's voice remotely as if a wireless microphone were put just in front of the master. A novel technique to form `acoustic focus' at human face is developed. To track and locate the face dynamically, real time face tracking and stereo vision are utilized. To make the acoustic focus at the face, microphones array is utilized. Setting gain and delay of each microphone properly enables to form acoustic focus at desired location. The gain and delay are determined based upon the location of the face. Results of preliminary experiments and simulations demonstrate feasibility of the proposed idea.

Citation Download Citation

Hiroshi Mizoguchi, Takaomi Shigehara, Yoshiyasu Goto, Ken-ichi Hidai, and Taketoshi Mishima "Novel human-robot interface integrating real-time visual tracking and microphone-array signal processing", Proc. SPIE 3523, Sensor Fusion and Decentralized Control in Robotic Systems, (9 October 1998); https://doi.org/10.1117/12.326995

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